README.md

NXROBO Spark

说明 Description

• This is a tutorial for beginners, and Detailed version is here .
• 本说明为初学者体验版，这里有详细说明的版本。

列表 Table of Contents

• 功能包说明packages-overview
• 使用usage
• 视频展示Video

功能包说明packages-overview

• src : Spark的源代码，包括底层配置，硬件驱动，和各个应用功能包等。
• doc : 软硬件依赖包。

使用usage

系统要求 Prequirement

• System: Ubuntu 20.04+
• ROS Version: noetic(Desktop-Full Install)

下载安装 Download and install

• 下载工作空间 Download the workspace:

git clone https://github.com/NXROBO/spark_noetic.git

• 安装依赖库 Install libraries and dependencies:

cd spark_noetic

编译运行 compile and run

catkin_make

• 如果编译一切正常，可根据提示运行相关例程。If everything goes fine, test the examples as follow:

./onekey.sh

视频展示Video

1.Spark跟随 Spark-Follower

cd ~/spark_noetic
source devel/setup.bash
roslaunch spark_follower bringup.launch camera_type_tel:=d435

2.Spark建图 Spark-SLAM-Mapping

cd ~/spark_noetic
source devel/setup.bash
roslaunch spark_slam 2d_slam_teleop.launch slam_methods_tel:=gmapping camera_type_tel:=d435 lidar_type_tel:=ydlidar_g6

3.Spark导航 Spark-Navigation

cd ~/spark_noetic
source devel/setup.bash
roslaunch spark_navigation amcl_demo_lidar_rviz.launch camera_type_tel:=d435 lidar_type_tel:=ydlidar_g6

4.Spark-RtabMap建图 Spark-RtabMap-Mapping

cd ~/spark_noetic
source devel/setup.bash
roslaunch spark_rtabmap spark_rtabmap_teleop.launch camera_type_tel:=d435

5.Spark机械臂视觉抓取 Spark-Carry_Object

cd ~/spark_noetic
source devel/setup.bash
roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=d435 lidar_type_tel:=ydlidar_g6